mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 00:23:33 +08:00
Thomas Stastny
87e09ad9f5
- landing slope/curve library removed - flare curve removed (the position setpoints will not be tracked during a flare, and were being ignored by open-loop maneuvers anyway) - flare curve replaced by simply commanding a constant glide slope to the ground from the approach entrance, and commanding a sink rate once below flaring alt - flare is now time-to-touchdown -based to account for differing descent rates (e.g. due to wind) - flare pitch limits and height rate commands are ramped in from the previous iteration's values at flare onset to avoid jumpy commands - TECS controls all aspects of the auto landing airspeed and altitude/height rate, and is only constrained by pitch and throttle limits (lessening unintuitive open loop manuever overrides) - throttle is killed on flare - flare is the singular point of no return during landing - lateral manual nudging of the touchdown point is configurable via parameter, allowing the operator to nudge (via remote) either the touchdown point itself (adjusting approach vector) or shifting the entire approach path to the left or right. this helps when GCS map or GNSS uncertainties set the aircraft on a slightly offset approach"
46 lines
1.0 KiB
Bash
46 lines
1.0 KiB
Bash
#!/bin/sh
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#
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# @name Wing Wing (aka Z-84) Flying Wing
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#
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# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
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#
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# @type Flying Wing
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# @class Plane
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#
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# @output MAIN1 left aileron
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# @output MAIN2 right aileron
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# @output MAIN4 throttle
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#
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# @output AUX1 feed-through of RC AUX1 channel
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# @output AUX2 feed-through of RC AUX2 channel
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# @output AUX3 feed-through of RC AUX3 channel
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#
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# @maintainer Lorenz Meier <lorenz@px4.io>
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#
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# @board px4_fmu-v2 exclude
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# @board bitcraze_crazyflie exclude
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#
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. ${R}etc/init.d/rc.fw_defaults
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param set-default BAT1_N_CELLS 2
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param set-default FW_AIRSPD_MAX 15
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param set-default FW_AIRSPD_TRIM 13
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param set-default FW_R_TC 0.3
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param set-default FW_P_TC 0.3
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param set-default FW_L1_DAMPING 0.74
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param set-default FW_L1_PERIOD 16
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param set-default FW_LND_ANG 15
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param set-default FW_LND_FLALT 5
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param set-default FW_PR_FF 0.35
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param set-default FW_RR_FF 0.6
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param set-default FW_RR_P 0.04
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param set-default PWM_MAIN_DISARM 1000
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# Set mixer.
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set MIXER fw_generic_wing
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# Provide ESC a constant 1000 us pulse.
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set PWM_OUT 4
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